#pragma once

#ifndef _PC_HANDLE_H_
#define _PC_HANDLE_H_

#include "config.h"

namespace fast_lio{

class PCHandle{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
    typedef shared_ptr<PCHandle> Ptr;

    pcl::PointCloud<PointType>::Ptr pc_surface_;
    // pcl::PointCloud<PointType>::Ptr pc_conner_;
    pcl::PointCloud<PointType>::Ptr pc_full_;

    double time_interval_VLD16_s_ = 3472*10^(-9);

    PCHandle(Config::Ptr config){
        p_config_ = config;
    }
    void preHandle(const livox_ros_driver::CustomMsg::ConstPtr &msg,pcl::PointCloud<PointType>::Ptr& pc_ret);
    
private:
   Config::Ptr p_config_;

};





}
#endif  
